constants.h
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00034 
00035 #ifndef ROSBAG_CONSTANTS_H
00036 #define ROSBAG_CONSTANTS_H
00037 
00038 #include <string>
00039 #include <stdint.h>
00040 
00041 namespace rosbag {
00042 
00043 // Bag file version to write
00044 static const std::string VERSION = "2.0";
00045 
00046 // Header field delimiter
00047 static const unsigned char FIELD_DELIM = '=';
00048 
00049 // Current header fields
00050 static const std::string OP_FIELD_NAME               = "op";
00051 static const std::string TOPIC_FIELD_NAME            = "topic";
00052 static const std::string VER_FIELD_NAME              = "ver";
00053 static const std::string COUNT_FIELD_NAME            = "count";
00054 static const std::string INDEX_POS_FIELD_NAME        = "index_pos";     // 1.2+
00055 static const std::string CONNECTION_COUNT_FIELD_NAME = "conn_count";    // 2.0+
00056 static const std::string CHUNK_COUNT_FIELD_NAME      = "chunk_count";   // 2.0+
00057 static const std::string CONNECTION_FIELD_NAME       = "conn";          // 2.0+
00058 static const std::string COMPRESSION_FIELD_NAME      = "compression";   // 2.0+
00059 static const std::string SIZE_FIELD_NAME             = "size";          // 2.0+
00060 static const std::string TIME_FIELD_NAME             = "time";          // 2.0+
00061 static const std::string START_TIME_FIELD_NAME       = "start_time";    // 2.0+
00062 static const std::string END_TIME_FIELD_NAME         = "end_time";      // 2.0+
00063 static const std::string CHUNK_POS_FIELD_NAME        = "chunk_pos";     // 2.0+
00064 
00065 // Legacy header fields
00066 static const std::string MD5_FIELD_NAME      = "md5";           // <2.0
00067 static const std::string TYPE_FIELD_NAME     = "type";          // <2.0
00068 static const std::string DEF_FIELD_NAME      = "def";           // <2.0
00069 static const std::string SEC_FIELD_NAME      = "sec";           // <2.0
00070 static const std::string NSEC_FIELD_NAME     = "nsec";          // <2.0
00071 static const std::string LATCHING_FIELD_NAME = "latching";      // <2.0
00072 static const std::string CALLERID_FIELD_NAME = "callerid";      // <2.0
00073 
00074 // Current "op" field values
00075 static const unsigned char OP_MSG_DATA    = 0x02;
00076 static const unsigned char OP_FILE_HEADER = 0x03;
00077 static const unsigned char OP_INDEX_DATA  = 0x04;
00078 static const unsigned char OP_CHUNK       = 0x05;
00079 static const unsigned char OP_CHUNK_INFO  = 0x06;
00080 static const unsigned char OP_CONNECTION  = 0x07;
00081 
00082 // Legacy "op" field values
00083 static const unsigned char OP_MSG_DEF     = 0x01;
00084 
00085 // Bytes reserved for file header record (4KB)
00086 static const uint32_t FILE_HEADER_LENGTH = 4 * 1024;
00087 
00088 // Index data record version to write
00089 static const uint32_t INDEX_VERSION = 1;
00090 
00091 // Chunk info record version to write
00092 static const uint32_t CHUNK_INFO_VERSION = 1;
00093 
00094 // Compression types
00095 static const std::string COMPRESSION_NONE = "none";
00096 static const std::string COMPRESSION_BZ2  = "bz2";
00097 static const std::string COMPRESSION_LZ4  = "lz4";
00098 
00099 } // namespace rosbag
00100 
00101 #endif


rosbag_storage
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autogenerated on Tue Mar 7 2017 03:44:35